Miniature bone-attached surgical robot

Abstract

Disclosed are methods for performing a surgical procedure at a surgical site utilizing a surgical robot. Other embodiments are also disclosed.

What is claimed is: 
     
       1. A system for performing at a surgical site a procedure planned using an initial image, said system comprising:
 a surgical robot; 
 an attachment member configured and dimensioned to mount said surgical robot on a bone associated with said surgical site, such that said robot's position relative to said bone is unchanged with motion of said bone; and 
 a controller adapted to process at least one intraoperative fluoroscopic X-ray image generated after attachment of said attachment member to said bone, such that said intraoperative image includes said surgical site and at least one of (i) said surgical robot, (ii) its attachment member, and (iii) a set of reference markers associated with either, such that a position of said robot is defined in said at least one intraoperative fluoroscopic X-ray image, said controller further adapted to use imaged anatomical features of said surgical site to register said initial image including said surgical site with said at least one intraoperative fluoroscopic X-ray image, whereby the position of said robot is registered in said initial image, 
 wherein said controller is adapted to utilize said registration of said position of said robot to said initial image to align said robot relative to said surgical site, so that when the robot holds a surgical tool, the tool will be aligned to perform on said bone said procedure planned using said initial image. 
 
     
     
       2. A surgical system according to  claim 1 , wherein said controller adapted to direct said robot to align said surgical tool to perform on said bone said procedure planned using said initial image, without the need for a dynamic referencing device to maintain orientation of said robot relative to the position of said bone during said procedure. 
     
     
       3. A surgical system according to  claim 1 , wherein said robot is adapted to be controlled to align said surgical tool through use of at least one of a mouse, a joystick and a touch-screen. 
     
     
       4. A surgical system according to  claim 1 , wherein said surgical tool comprises at least one of a cutting member, a drilling member, a screwdriver, a drill bit and a Kirschner wire. 
     
     
       5. A surgical system according to  claim 1 , wherein said surgical tool is adapted to be carried in a surgical tool guide. 
     
     
       6. A surgical system according to  claim 5 , wherein said surgical tool guide is a sleeve adapted for insertion of said surgical tool. 
     
     
       7. A surgical system according to  claim 1 , wherein said robot is configured and dimensioned such that it can be fully supported on said bone. 
     
     
       8. A surgical system according to  claim 1 , wherein said attachment member is either one of a bone clamp or at least a pair of Kirschner-wires. 
     
     
       9. A surgical system according to  claim 1 , wherein said robot comprises a miniature parallel robot. 
     
     
       10. A surgical system of  claim 1 , wherein said robot comprises at least three actuators mounted on a base member, said actuators being configured for translational or rotational movement. 
     
     
       11. A surgical system according to  claim 1 , wherein said attachment member comprises a robot receiving adaptor mounted on a bone attachment portion. 
     
     
       12. A surgical system according to  claim 11 , wherein said bone attachment portion comprises either one of a clamp having at least two jaws shaped to clamp onto said bone or at least one wire configured and dimensioned to be received in a bone hole. 
     
     
       13. A method of performing a procedure at a surgical site, comprising:
 providing a surgical robot; 
 providing an initial image including said surgical site, and using said initial image to plan said procedure; 
 mounting said surgical robot on a bone associated with said surgical site, by means of an attachment member, such that said robot's position relative to said bone is unchanged with motion of said bone; and 
 after attachment of said attachment member to said bone, generating at least one intraoperative fluoroscopic X-ray image including said surgical site and at least one of (i) said surgical robot, (ii) its attachment member, and (iii) a set of reference markers associated with either, such that the position of said robot is defined in said at least one intraoperative fluoroscopic X-ray image; 
 using imaged anatomical features of said surgical site to register said initial image with said at least one intraoperative fluoroscopic X-ray image, such that the position of said robot is registered in said initial image; and 
 utilizing said registration of said position of said robot to said initial image to align said robot relative to said surgical site so that when the robot holds a surgical tool, the tool is aligned to perform on said bone said procedure planned using said initial image. 
 
     
     
       14. A method according to  claim 13 , wherein said aligning of said robot is performed without the need for a dynamic referencing device to maintain orientation of said robot relative to the position of said bone during said procedure. 
     
     
       15. A method according to  claim 13 , wherein said aligning of said robot is performed by using at least one of a mouse, a joystick and a touch-screen. 
     
     
       16. A method according to  claim 13 , wherein said surgical tool comprises any one of a cutting member, a drilling member, a screwdriver, a drill bit and a Kirschner wire. 
     
     
       17. A method according to  claim 13 , wherein said surgical tool is carried in a surgical tool guide. 
     
     
       18. A method according to  claim 17 , wherein said surgical tool guide is a sleeve adapted for insertion of said surgical tool. 
     
     
       19. A method according to  claim 13 , wherein said robot is configured and dimensioned such that it can be fully supported on said bone. 
     
     
       20. A method according to  claim 13 , wherein said attachment member is either one of a bone clamp or at least a pair of Kirschner-wires. 
     
     
       21. A method according to  claim 13 , wherein said robot comprises a miniature parallel robot. 
     
     
       22. A system for performing at a surgical site a procedure planned using an initial image, said system comprising:
 a surgical robot; 
 an attachment member configured and dimensioned to mount said surgical robot on a bone associated with said surgical site such that said robot's position relative to said bone is unchanged with motion of said bone; and 
 a controller that processes adapted to process image including said surgical site and at least one of (i) said attachment member and (ii) a set of reference markers associated with said attachment member, but not including said robot, such that when said robot is mounted onto said attachment member, a position of said robot is defined in said at least one intraoperative fluoroscopic X-ray image, said controller further adapted to use anatomical imaged features of said surgical site to register said initial image including said surgical site with said at least one intraoperative fluoroscopic X-ray image, such that the position of said robot is registered in said initial image, 
 wherein said controller is adapted to utilize said registration of said position of said robot to said initial image to align said robot relative to said surgical site, so that when the robot holds a surgical tool, the tool will be aligned to perform on said bone said procedure planned using said initial image. 
 
     
     
       23. A method of performing a procedure at a surgical site, comprising:
 providing an initial image including said surgical site, and using said initial image to plan said procedure; 
 providing a surgical robot; 
 providing an attachment member adapted to carry said robot in a predetermined position relative to said attachment member; 
 mounting said attachment member on a bone associated with said surgical site, such that said attachment member's position relative to said bone is unchanged with motion of said bone; 
 generating at least one intraoperative fluoroscopic X-ray image including said surgical site and at least one of (i) said attachment member, and (ii) a set of reference markers associated with said attachment member, such that the position of said attachment member is defined in said at least one intraoperative fluoroscopic X-ray image; 
 following said generating of at least one intraoperative fluoroscopic X-ray image, mounting said robot on said attachment member such that the position of said robot is defined in said at least one intraoperative fluoroscopic X-ray image; 
 using anatomical imaged features of said surgical site to register said initial image with said at least one intraoperative fluoroscopic X-ray image, such that the position of said robot is registered to said initial image; and 
 utilizing said registration of said position of said robot to said initial image to align said robot relative to said surgical site so that when said robot holds a surgical tool, the tool is aligned to perform on said bone said procedure planned using said initial image.